version: 66.03
glider: 143
mission: 4
dive: 194
start: 5 13 108 9 4 16
data:
$ID,143
$MISSION,4
$DIVE,194
$D_SURF,2
$D_FLARE,3
$D_TGT,990
$D_ABORT,1040
$D_NO_BLEED,350
$D_FINISH,0
$D_PITCH,0
$D_SAFE,0
$D_CALL,0
$SURFACE_URGENCY,0
$SURFACE_URGENCY_TRY,0
$SURFACE_URGENCY_FORCE,0
$T_DIVE,330
$T_MISSION,360
$T_ABORT,720
$T_TURN,270
$T_TURN_SAMPINT,5
$T_NO_W,120
$USE_BATHY,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,200
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0273
$MASS,51457
$NAV_MODE,0
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0038360001
$HD_B,0.010078
$HD_C,9.8541004e-06
$HEADING,220
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,-2030
$TGT_DEFAULT_LON,5900
$TGT_AUTO_DEFAULT,0
$SM_CC,200
$N_FILEKB,8
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$KERMIT,0
$N_NOCOMM,1
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-8944.6836
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,1469
$PITCH_MAX,4022
$C_PITCH,2800
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,27
$PITCH_TIMEOUT,15
$PITCH_AD_RATE,100
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.02
$PITCH_ADJ_DBAND,2
$ROLL_MIN,182
$ROLL_MAX,3816
$ROLL_DEG,40
$C_ROLL_DIVE,2295
$C_ROLL_CLIMB,2050
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,16
$R_STBD_OVSHOOT,33
$ROLL_AD_RATE,250
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,3
$ROLL_ADJ_DBAND,0.029999999
$VBD_MIN,490
$VBD_MAX,3964
$C_VBD,3071
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,4
$VBD_PUMP_AD_RATE_APOGEE,3
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$CF8_MAXERRORS,20
$AH0_24V,150
$AH0_10V,100
$PRESSURE_YINT,-13.47135
$PRESSURE_SLOPE,9.1530041e-05
$AD7714Ch0Gain,64
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,0
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,0
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,0
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,3
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,20
$DEVICE3,53
$DEVICE4,35
$DEVICE5,87
$DEVICE6,-1
$SMARTS,0
$SMARTDEVICE1,-1
$SMARTDEVICE2,-1
$COMPASS_DEVICE,33
$PHONE_DEVICE,48
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043273759
$SEABIRD_T_H,0.00064184016
$SEABIRD_T_I,2.4188148e-05
$SEABIRD_T_J,2.4070987e-06
$SEABIRD_C_G,-10.197048
$SEABIRD_C_H,1.1695373
$SEABIRD_C_I,-0.0015330453
$SEABIRD_C_J,0.00015523176
$GPS1,085707,6116.748,-2550.602,34,1.2,34,-18.2
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.05
$_SM_ANGLEo,-56.0
$GPS2,090357,6116.658,-2550.687,13,1.3,13,-18.2
$SPEED_LIMITS,0.173,0.296
$TGT_NAME,HEADING
$TGT_LATLONG,6108.385,-2554.037
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.000,0.000
$KALMAN_X,0.0,0.0,0.0,0.0,0.0
$KALMAN_Y,0.0,0.0,0.0,0.0,0.0
$MHEAD_RNG_PITCHd_Wd,238.2,20000,-15.7,-10.000
$D_GRID,990
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,depth,ob_vertv,data_pts,end_secs,pitch_secs,roll_secs,vbd_secs,vbd_i,gcphase,pitch_i,roll_i,pitch_ad,roll_ad,vbd_ad
$STATE,23,end surface,CONTROL_FINISHED_OK
$STATE,23,begin dive
$GC,25,-0.82,-194.7,0.0,0.0,0,122,0.00,0.00,-93.53,0.000,2,0.000,0.000,1470,2315,3463
$GC,125,-0.82,-194.7,3.3,-4.3,17,150,10.10,2.92,-9.48,0.000,4,0.254,0.062,2614,882,3867
$GC,347,-0.77,-194.7,43.0,-16.1,56,354,0.00,2.75,0.00,0.000,6,0.000,0.050,2614,2285,3867
$GC,492,-0.68,-194.7,67.7,-17.1,81,499,0.20,2.88,0.00,0.000,4,0.139,0.060,2648,3709,3867
$GC,522,-0.68,-194.7,73.1,-16.1,86,528,0.00,2.72,0.00,0.000,6,0.000,0.040,2648,2292,3868
$GC,865,-0.68,-194.7,121.6,-13.3,147,870,0.00,0.00,0.00,0.000,6,0.000,0.000,2647,2291,3868
$GC,1207,-0.68,-194.7,164.8,-12.7,208,1213,0.00,0.00,0.00,0.000,6,0.000,0.000,2648,2291,3868
$GC,1551,-0.68,-194.7,207.7,-12.8,269,1556,0.00,0.00,0.00,0.000,6,0.000,0.000,2647,2291,3868
$GC,1894,-0.68,-194.7,250.9,-12.1,330,1899,0.00,0.00,0.00,0.000,6,0.000,0.000,2648,2291,3868
$GC,2236,-0.68,-194.7,291.5,-11.8,391,2242,0.00,2.75,0.00,0.000,4,0.000,0.054,2647,882,3868
$GC,2265,-0.68,-194.7,294.9,-11.5,396,2272,0.00,2.75,0.00,0.000,6,0.000,0.044,2648,2308,3868
$GC,2610,-0.68,-194.7,333.9,-11.5,457,2615,0.00,0.00,0.00,0.000,6,0.000,0.000,2648,2308,3868
$GC,2941,-0.68,-194.7,373.9,-12.5,500,2942,0.00,0.00,0.00,0.000,6,0.000,0.000,2648,2308,3868
$GC,3261,-0.68,-194.7,415.3,-13.0,530,3266,0.00,2.80,0.00,0.000,4,0.000,0.054,2648,884,3868
$GC,3305,-0.72,-194.7,421.3,-12.4,533,3311,0.00,2.72,0.00,0.000,6,0.000,0.043,2648,2303,3868
$GC,3630,-0.72,-194.7,464.7,-13.4,564,3631,0.00,0.00,0.00,0.000,6,0.000,0.000,2648,2303,3868
$GC,3948,-0.72,-194.7,506.3,-12.6,594,3953,0.00,2.80,0.00,0.000,4,0.000,0.054,2648,884,3868
$GC,3976,-0.72,-194.7,510.0,-13.1,596,3981,0.00,2.72,0.00,0.000,6,0.000,0.044,2648,2298,3868
$GC,4302,-0.72,-194.7,551.5,-12.7,626,4303,0.00,0.00,0.00,0.000,6,0.000,0.000,2648,2298,3868
$GC,4620,-0.72,-194.7,588.2,-11.3,656,4625,0.00,2.80,0.00,0.000,4,0.000,0.057,2648,885,3868
$GC,4648,-0.72,-194.7,591.6,-12.2,658,4652,0.00,2.72,0.00,0.000,6,0.000,0.044,2648,2295,3868
$GC,4976,-0.72,-194.7,629.7,-11.8,677,4977,0.00,0.00,0.00,0.000,6,0.000,0.000,2648,2295,3868
$GC,5284,-0.72,-194.7,665.8,-11.5,692,5285,0.00,0.00,0.00,0.000,6,0.000,0.000,2648,2295,3868
$GC,5594,-0.72,-194.7,703.8,-12.6,707,5598,0.00,2.85,0.00,0.000,4,0.000,0.066,2648,891,3867
$GC,5628,-0.72,-194.7,708.0,-12.8,708,5634,0.00,2.70,0.00,0.000,6,0.000,0.048,2648,2276,3867
$GC,5942,-0.72,-194.7,746.1,-11.1,724,5947,0.00,2.90,0.00,0.000,4,0.000,0.067,2647,3708,3867
$GC,5968,-0.72,-194.7,749.2,-12.0,725,5973,0.00,2.80,0.00,0.000,6,0.000,0.049,2647,2291,3867
$GC,6290,-0.72,-194.7,781.4,-9.9,741,6295,0.00,2.85,0.00,0.000,4,0.000,0.067,2647,876,3867
$GC,6322,-0.72,-194.7,784.7,-10.3,742,6329,0.00,2.75,0.00,0.000,6,0.000,0.048,2648,2282,3867
$GC,6638,-0.72,-194.7,816.8,-10.9,758,6639,0.00,0.00,0.00,0.000,6,0.000,0.000,2647,2283,3867
$GC,6948,-0.72,-194.7,853.7,-11.8,773,6949,0.00,0.00,0.00,0.000,6,0.000,0.000,2648,2284,3867
$GC,7256,-0.72,-194.7,886.1,-9.9,788,7258,0.00,0.00,0.00,0.000,6,0.000,0.000,2648,2285,3866
$GC,7565,-0.72,-194.7,916.8,-10.5,803,7570,0.00,2.85,0.00,0.000,4,0.000,0.067,2648,884,3866
$GC,7592,-0.72,-194.7,919.6,-11.0,804,7596,0.00,2.72,0.00,0.000,6,0.000,0.048,2648,2273,3866
$GC,7907,-0.72,-194.7,956.0,-12.5,819,7909,0.00,0.00,0.00,0.000,6,0.000,0.000,2648,2275,3866
$STATE,8173,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8173,begin apogee
$GC,8178,-0.19,0.0,990.3,12.7,832,8382,0.62,0.00,200.73,1.433,6,0.118,0.000,2753,2037,3071
$STATE,8383,end apogee,CONTROL_FINISHED_OK
$STATE,8383,begin climb
$GC,8386,0.82,194.7,1002.7,0.0,842,8604,1.27,3.20,207.32,1.364,4,0.088,0.070,2972,655,2277
$GC,8693,0.70,194.7,982.7,11.7,856,8700,0.00,2.90,0.00,0.000,6,0.000,0.045,2972,2052,2274
$GC,9009,0.57,194.7,946.0,11.3,872,9014,0.28,2.90,0.00,0.000,4,0.133,0.061,2928,3462,2272
$GC,9064,0.60,222.3,940.5,9.0,874,9099,0.00,2.83,28.65,1.372,6,0.000,0.051,2928,2069,2163
$GC,9422,0.62,240.0,908.5,9.4,892,9447,0.00,2.97,19.15,1.374,4,0.000,0.071,2928,641,2092
$GC,9541,0.62,240.0,896.3,10.6,897,9548,0.00,2.88,0.00,0.000,6,0.000,0.046,2929,2090,2090
$GC,9857,0.63,244.3,864.5,9.9,913,9868,0.00,3.00,5.68,1.073,4,0.000,0.069,2929,640,2075
$GC,9969,0.63,244.9,852.8,10.0,918,9973,0.00,2.85,0.00,0.000,6,0.000,0.047,2932,2093,2074
$GC,10290,0.68,283.6,821.9,8.7,934,10339,0.00,3.08,40.85,1.341,4,0.000,0.071,2929,642,1914
$GC,10419,0.71,310.4,809.7,9.1,940,10454,0.12,2.90,28.33,1.315,6,0.071,0.047,2954,2097,1805
$GC,10772,0.65,310.4,767.0,12.3,957,10776,0.00,3.03,0.00,0.000,4,0.000,0.070,2953,636,1801
$GC,10871,0.65,310.4,755.0,11.1,961,10878,0.17,2.88,0.00,0.000,6,0.123,0.047,2936,2099,1801
$GC,11186,0.72,362.8,727.6,8.2,977,11243,0.12,0.00,53.55,1.276,6,0.074,0.000,2957,2099,1591
$GC,11553,0.72,362.8,685.5,12.2,994,11558,0.00,2.75,0.00,0.000,4,0.000,0.059,2950,3464,1584
$GC,11591,0.72,362.8,680.6,11.2,996,11596,0.00,2.75,0.00,0.000,6,0.000,0.050,2950,2087,1583
$GC,11917,0.72,362.8,640.7,12.6,1012,11922,0.00,2.95,0.00,0.000,4,0.000,0.067,2950,634,1583
$GC,11943,0.72,362.8,637.2,12.6,1013,11948,0.00,2.85,0.00,0.000,6,0.000,0.044,2951,2102,1583
$GC,12265,0.72,362.8,598.2,12.1,1029,12269,0.00,2.70,0.00,0.000,4,0.000,0.055,2950,3465,1582
$GC,12292,0.72,362.8,594.9,12.3,1031,12297,0.00,2.70,0.00,0.000,6,0.000,0.048,2951,2094,1582
$GC,12617,0.72,362.8,557.4,12.0,1061,12622,0.00,2.92,0.00,0.000,4,0.000,0.065,2951,639,1582
$GC,12645,0.72,362.8,553.9,12.7,1063,12649,0.00,2.83,0.00,0.000,6,0.000,0.043,2953,2108,1581
$GC,12969,0.72,362.8,514.4,12.7,1093,12973,0.00,2.67,0.00,0.000,4,0.000,0.054,2950,3462,1582
$GC,12989,0.72,362.8,511.6,12.4,1094,12996,0.00,2.70,0.00,0.000,6,0.000,0.046,2952,2082,1581
$GC,13316,0.72,362.8,471.8,11.9,1125,13321,0.00,2.88,0.00,0.000,4,0.000,0.063,2951,641,1581
$GC,13343,0.72,362.8,468.2,12.1,1127,13348,0.00,2.80,0.00,0.000,6,0.000,0.041,2950,2104,1581
$GC,13668,0.72,362.8,430.9,11.7,1157,13672,0.00,2.67,0.00,0.000,4,0.000,0.052,2950,3466,1581
$GC,13695,0.72,362.8,427.7,11.4,1159,13700,0.32,2.70,0.00,0.000,6,0.119,0.045,2959,2082,1581
$GC,14020,1.05,364.2,401.2,10.0,1189,14026,0.62,2.83,0.00,0.000,4,0.069,0.060,3023,643,1581
$GC,14053,1.05,364.2,397.4,10.7,1191,14060,0.00,2.80,0.00,0.000,6,0.000,0.041,3026,2107,1581
$GC,14383,0.85,364.2,329.6,21.1,1230,14389,0.20,0.00,0.00,0.000,6,0.146,0.000,2992,2107,1581
$GC,14726,0.72,364.2,268.3,17.2,1291,14733,0.17,2.95,0.00,0.000,4,0.142,0.062,2960,643,1581
$GC,14762,0.72,364.2,262.7,14.0,1297,14768,0.00,2.75,0.00,0.000,6,0.000,0.041,2961,2080,1581
$GC,15105,0.72,364.2,219.7,12.0,1358,15111,0.00,2.72,0.00,0.000,4,0.000,0.053,2960,3466,1581
$GC,15133,0.72,364.2,216.1,12.0,1363,15140,0.15,2.72,0.00,0.000,6,0.129,0.045,2954,2069,1581
$GC,15480,0.85,428.8,187.2,7.8,1424,15549,0.15,0.00,63.65,0.924,6,0.068,0.000,2985,2069,1323
$GC,15887,0.79,428.8,132.8,13.6,1497,15892,0.00,0.00,0.00,0.000,6,0.000,0.000,2985,2069,1316
$GC,16230,0.74,428.8,85.3,13.9,1558,16237,0.15,2.88,0.00,0.000,4,0.126,0.064,2948,634,1314
$GC,16272,0.86,452.6,80.5,9.2,1565,16305,0.00,2.80,23.45,0.858,6,0.000,0.039,2950,2094,1225
$GC,16644,0.99,496.9,46.8,8.5,1631,16695,0.30,0.00,44.67,0.806,6,0.051,0.000,3015,2094,1044
$GC,16830,0.81,496.9,3.6,25.5,1664,16837,0.20,3.00,0.00,0.000,4,0.143,0.065,2982,636,1039
$STATE,16842,end climb,SURFACE_DEPTH_REACHED
$STATE,16842,begin surface coast
$FINISH,0.5,1.027240
$STATE,16848,end surface coast,CONTROL_FINISHED_OK
$STATE,16849,begin surface
$SM_CCo,16927,0.00,0.000,0,0,1039,498.45
$SM_GC,0.98,7.40,0.00,0.00,0.039,0.000,0.000,1468,2290,1039,-6.09,-0.14,498.45
$IRIDIUM_FIX,6054.92,-2549.78,070897,040423
$TT8_MAMPS,0.021476
$HUMID,1707
$INTERNAL_PRESSURE,8.11555
$TCM_TEMP,16.70
$XPDR_PINGS,20
$24V_AH,19.2,64.316
$10V_AH,9.8,45.487
$DEVICES,Pitch_motor,Roll_motor,VBD_pump_during_apogee,VBD_pump_during_surface,VBD_valve,Iridium_during_init,Iridium_during_connect,Iridium_during_xfer,Transponder_ping,Mmodem_TX,Mmodem_RX,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder
$DEVICE_SECS,22.575,159.250,716.025,0.000,0.000,22.762,45.768,224.471,5.000,0.000,0.000,14.728,2639.801,10368.956,791.372,2984.495,539.334,0.000,2256.881,0.000,2950.873,0.000,0.467
$DEVICE_MAMPS,253.877,71.331,1432.756,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,1254.044,1160.410,585.798,818.148,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,120184,1667
$CAP_FILE_SIZE,159724,0
$CFSIZE,260165632,238133248
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,1,0,0,0
$GPS,130508,134737,6112.400,-2556.387,39,1.0,39,-18.2